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Diff: actuator/IMC_motorDrive.hpp
- Revision:
- 8:1ca5a2052b0c
- Parent:
- 2:e7b09385d197
--- a/actuator/IMC_motorDrive.hpp Sat Apr 09 03:39:36 2022 +0000 +++ b/actuator/IMC_motorDrive.hpp Fri Jun 10 08:09:09 2022 +0000 @@ -12,7 +12,7 @@ class IMC_motor { public: - IMC_motor(Port encoder,int resolution,double wheel_ensyu,Port motor_,double K_,double Tau_,double dt_); + IMC_motor(Port encoder,int resolution,double wheel_ensyu,Port motor_,double K_,double Tau_,double dt_,bool CW_flag); void IMCdrive(double target); void IMCreset(); void drive(int pwm); @@ -26,5 +26,6 @@ double K; double Tau; double dt; + bool cw_flag; Port motor; }; \ No newline at end of file